Pedal control method, storage medium and device

Abstract

The application relates to the technical field of ship control, and discloses a foot control method, a storage medium and a device, wherein the method comprises the following steps: acquiring the rotating speed and rotating angle of a pedal; calculating the pedal torque of a pedal motor according to the rotating speed of the pedal, and performing inductive FOC control on the pedal motor according to the pedal torque; calculating the expected output of an equipment motor according to the mapping relationship between the rotating angle of the pedal and the output of the equipment motor; calculating the output torque of the equipment motor according to the difference between the current output of the equipment motor and the expected output; performing inductive FOC control on the equipment motor according to the output torque of the equipment motor; and when the output torque of the equipment motor exceeds the set maximum output torque, controlling the pedal motor to rotate reversely. By using the foot control method, the pedal can generate resistance suitable for rotating speed change through the pedal motor, the control accuracy of the pedal by an operator is improved, and the pedal motor is reversely driven to feed back when overload occurs, so that mechanical structure damage is avoided.

Description

Technical Field

[0001] This invention relates to the field of ship control technology, specifically to a foot pedal control method, storage medium, and device. Background Technology

[0002] Marine propulsion systems, also known as outboard motors, are widely used in the propulsion of small and medium-sized vessels. Traditional outboard motors are operated by the user turning a handle, which rotates the main shaft to adjust the direction of the thruster at the lower end of the main shaft, thus controlling the vessel's course. To improve the user experience for fishermen and anglers and free up the operator's hands, some outboard motors on the market use foot pedals to control the steering motor or steering mechanism to adjust the course. However, existing foot pedal control systems often use electronic buttons or mechanical pedals, which can only provide fixed, non-adjustable resistance feedback, making it inconvenient for the operator to perform precise angle adjustments. Furthermore, when the steering mechanism reaches its maximum travel or encounters significant external resistance, there is no feedback to the operator via the foot pedal, which can easily damage the steering mechanism. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a foot pedal control method that can improve the control accuracy of the foot pedal control system, facilitate precise control of the equipment through the foot pedal, and avoid damage to the steering mechanism.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: a foot pedal control method, comprising the following steps:

[0005] Obtain the pedal's rotation speed and rotation angle;

[0006] The pedal torque of the pedal motor is calculated based on the pedal speed, and the pedal motor is controlled by sensor-based FOC based on the pedal torque.

[0007] The expected output of the device motor is calculated based on the mapping relationship between the rotation angle of the pedal and the output of the device motor.

[0008] Calculate the output torque of the equipment motor based on the difference between the current output and the expected output of the equipment motor;

[0009] Based on the output torque of the equipment motor, the device motor is controlled by a sensor-based FOC (Field-Oriented Control) mechanism. When the output torque of the equipment motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the opposite direction.

[0010] Compared to existing technologies, the advantages of this invention are as follows: By acquiring the pedal rotation speed, calculating the pedal torque of the pedal motor based on the rotation speed, and performing sensor-based FOC control on the pedal motor according to the pedal torque, the pedal motor can provide feedback of different resistance levels based on the rotation speed, facilitating more precise control of the pedal by the operator. Furthermore, when the output torque of the device motor exceeds its maximum withstand torque, the pedal motor is driven to rotate in the opposite direction to prevent the operator from further increasing the output torque of the device motor by pressing the pedal, thus avoiding damage to the mechanical structure driven by the device motor.

[0011] In the above-described foot pedal control method, the formula for calculating the pedal torque of the pedal motor based on the pedal speed and performing sensor-based FOC control of the pedal motor based on the pedal torque is as follows:

[0012] E1 = N1(A11 - A12) / (T1 - T2)

[0013] Where E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

[0014] In the aforementioned foot pedal control method, in the step of calculating the output torque of the device motor based on the difference between the current output and the desired output, the desired output is the rotation angle of the device motor, and the formula for calculating the output torque of the device motor is as follows:

[0015] E2 = P2(A21 / P1 - A22)

[0016] Where E2 is the output torque of the equipment motor, P2 is the torque output multiple of the equipment motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the equipment motor, and A22 is the current angle of the equipment motor.

[0017] In the above-mentioned foot pedal control method, in the step of performing sensor-based FOC control on the device motor based on the output torque of the device motor, and controlling the pedal motor to rotate in the reverse direction when the output torque of the device motor exceeds the set maximum output torque, the pedal torque of the pedal motor is set to the output torque E2 of the device motor when controlling the pedal motor to rotate in the reverse direction.

[0018] A storage medium storing program code, which, when executed by a computer, implements the aforementioned foot pedal control method.

[0019] A foot pedal control device includes a computer and the aforementioned storage medium, wherein the storage medium is electrically connected to the computer.

[0020] A foot pedal control system includes: a pedal; a pedal motor with its output shaft connected to the pedal; a pedal angle sensor connected to the output shaft of the pedal motor; and a pedal control device electrically connected to the pedal motor and the pedal angle sensor, comprising a first acquisition module, a pedal torque calculation module, and a first FOC control module. The first acquisition module is used to acquire the rotation angle of the pedal motor, the pedal torque calculation module is used to calculate the rotational speed of the pedal motor based on the rotation angle, and to calculate the pedal torque based on the rotational speed of the pedal motor, and the first FOC control module is used to perform sensored FOC control on the pedal motor based on the pedal torque; a device motor with its output shaft connected to the load to be driven; a device angle sensor connected to the output shaft of the device motor; and a device control device electrically connected to the device motor and the device angle sensor. The temperature sensor is electrically connected and communicatively connected to the pedal control device. It includes a second acquisition module, an output torque calculation module, a second FOC control module, and an overload feedback module. The second acquisition module acquires the rotation angle of the pedal motor and the rotation angle of the device motor. The output torque calculation module calculates the desired output of the device motor based on the rotation angle of the pedal motor, and calculates the output torque of the device motor based on the desired output and the rotation angle of the device motor. The second FOC control module performs sensor-based FOC control on the device motor based on the output torque. The overload feedback module feeds overload information back to the pedal control device when the output torque exceeds its set maximum output torque, causing the pedal control device to control the pedal motor to rotate in the opposite direction.

[0021] In the aforementioned foot pedal control system, the pedal torque calculation module calculates the pedal torque using the following formula:

[0022] E1 = N1(A11 - A12) / (T1 - T2)

[0023] Where E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

[0024] In the aforementioned foot pedal control system, the output torque calculation module calculates the output torque of the device motor using the following formula:

[0025] E2 = P2(A21 / P1 - A22)

[0026] Where E2 is the output torque of the equipment motor, P2 is the torque output multiple of the equipment motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the equipment motor, and A22 is the current angle of the equipment motor.

[0027] In the aforementioned foot pedal control system, when the output torque exceeds its set maximum output torque, the overload feedback module feeds the output torque back to the pedal control device, causing the pedal control device to control the pedal motor to rotate in the opposite direction with the output torque.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0029] Figure 1 This is a flowchart of the foot pedal control method according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the foot pedal control system according to an embodiment of the present invention. Detailed Implementation

[0031] The embodiments of the present invention are described in detail below, with reference to... Figure 1 An embodiment of the present invention provides a foot pedal control method, comprising the following steps:

[0032] Obtain the pedal's rotation speed and rotation angle;

[0033] The pedal torque of the pedal motor is calculated based on the pedal speed, and the pedal motor is controlled by sensor-based FOC based on the pedal torque.

[0034] The expected output of the device motor is calculated based on the mapping relationship between the rotation angle of the pedal and the output of the device motor.

[0035] Calculate the output torque of the equipment motor based on the difference between the current output and the expected output of the equipment motor;

[0036] Based on the output torque of the equipment motor, the device motor is controlled by a sensor-based FOC (Field-Oriented Control) mechanism. When the output torque of the equipment motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the opposite direction.

[0037] The foot pedal control method of this invention is used in a pedal control system with a pedal control motor. The pedal in the pedal control system is connected to the output shaft of the pedal motor. When the pedal is subjected to pressure and rotates, it drives the output shaft of the pedal motor to rotate as well. The aforementioned foot pedal control method calculates the pedal torque of the pedal motor based on the pedal's rotation speed and performs sensor-based FOC control on the pedal motor based on the pedal torque. This allows the pedal motor to apply resistance to the pedal torque that changes with the pedal speed. At higher pedal speeds, the pedal motor can output greater damping to the pedal; at lower pedal speeds, it can output less damping, facilitating precise control of the pedal angle and thus achieving precise control of the equipment motor through the pedal. Furthermore, when the output torque of the equipment motor is too large, exceeding its set maximum output torque, the pedal motor is controlled to rotate in the opposite direction to prevent the operator from continuing to press the pedal and further increasing the output torque of the equipment motor, thereby avoiding damage to the mechanical structure driven by the equipment motor.

[0038] It is understandable that the pedal torque and pedal speed can be linearly positively correlated, or the pedal torque can gradually increase along a preset curve as the pedal speed increases, increasing the downward resistance of the pedal to improve the accuracy of user operation. The expected output of the device motor can be the rotation angle, output torque, or speed of the device motor, depending on the needs of the mechanism driven by the device motor. When the operator stops pedaling, the pedal will reset under the drive of the elastic mechanism or the pedal motor.

[0039] In this embodiment, the pedal torque of the pedal motor is calculated using the following formula:

[0040] E1=N1(A11-A12) / (T1-T2) (1)

[0041] Where E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, (A11-A12) / (T1-T2) is the average pedal speed during the T1-T2 time period, and N1 is the torque output multiple of the pedal motor. N1 can be adjusted by the user through the control panel to adapt to different operators' foot strength and further improve the user experience.

[0042] In this embodiment, taking the steering motor of the outboard motor as an example, the steering angle of the steering motor is controlled according to the rotation angle of the pedal. Furthermore, by implementing sensor-based FOC control on the steering motor, the accuracy of the steering angle control is further improved. The output torque of the steering motor is calculated using the following formula:

[0043] E2=P2(A21 / P1-A22) (2)

[0044] Where E2 is the output torque of the steering motor, P2 is the torque output multiple of the steering motor, A21 is the pedal rotation angle, P1 is the multiple coefficient between the pedal rotation angle and the motor rotation angle, A21 / P1 is the desired rotation angle of the steering motor calculated based on the pedal rotation angle, A22 is the current angle of the steering motor, and A21 / P1-A22 is the difference between the desired rotation angle and the current angle. The larger the difference between the desired rotation angle and the current angle, the greater the output torque of the steering motor. P1 needs to be set according to the pedal travel and the steering motor's steering travel, while P2 needs to be set according to the steering resistance of the steering mechanism. When the pedal loses pressure and resets, the output torque E2 of the steering motor reverses, causing the steering mechanism to reset. When the steering motor is subjected to sensor-based FOC control, as long as the output torque of the motor is not zero, the sensor-based FOC control will control the steering motor to rotate. When the steering motor rotates to the desired rotation angle, the output torque of the steering motor calculated according to formula (2) is zero, so that the steering motor stays at the desired rotation angle, thereby realizing the control of the rotation angle of the steering motor.

[0045] In this embodiment, in order to more clearly feed back the resistance of the steering motor to the pedal when the steering mechanism experiences greater resistance due to movement to the steering limit or other external forces, the output torque of the steering motor is directly set as the pedal torque of the pedal motor when the output torque of the steering motor is greater than its preset maximum torque. This allows the pedal to provide a direct feedback to the operator on the resistance experienced by the steering motor.

[0046] The storage medium in this embodiment of the invention stores program code, which can be called and executed by a computer to implement the above-described foot pedal control method. The foot pedal control device in this embodiment of the invention includes a computer and the aforementioned storage medium. The computer is electrically connected to the storage medium and can call the program code to implement the above-described foot pedal control method for the foot pedal motor and the device motor.

[0047] Reference Figure 2 The foot pedal control system of this invention includes a pedal, a pedal motor, a pedal angle sensor, a pedal control device, a device motor, a device angle sensor, and a device control device. The output shaft of the pedal motor is connected to the pedal and the pedal angle sensor, and both the pedal motor and the pedal angle sensor are connected to the pedal control device. The output shaft of the device motor is connected to the driven load, and the device angle sensor is connected to the output shaft of the device motor. Both the device motor and the device angle sensor are electrically connected to the device control device. The pedal control device and the device control device communicate with each other via wired or wireless means.

[0048] In this embodiment, both the device angle sensor and the pedal angle sensor employ magnetic encoders. Radial circular magnets are mounted at the rear ends of the output shafts of both the pedal motor and the device motor. These circular magnets are concentric with the motor's output shaft and rotate with it. The main body of the magnetic encoder is fixed to the motor's housing, suspended one millimeter above the circular magnet, and concentric with it. The magnetic encoder detects the angle of the motor's output shaft by measuring the change in the magnetic field caused by the rotation of the circular magnet.

[0049] The pedal control device includes a first acquisition module, a pedal torque calculation module, and a first FOC control module. The first acquisition module acquires the rotation angle of the pedal motor via a pedal angle sensor. The pedal torque calculation module calculates the motor speed based on the rotation angle and the pedal torque based on the motor speed. The first FOC control module performs sensor-based FOC control on the pedal motor based on the pedal torque. The equipment control device includes a second acquisition module, an output torque calculation module, a second FOC control module, and an overload feedback module. The second acquisition module acquires the rotation angle of the pedal motor via communication with the pedal control device and also acquires the rotation angle of the equipment motor via an equipment angle sensor. The output torque calculation module calculates the desired output of the equipment motor based on the pedal motor's rotation angle and calculates the output torque of the equipment motor based on the desired output and the rotation angle. The second FOC control module performs sensor-based FOC control on the equipment motor based on the output torque. The overload feedback module feeds overload information back to the pedal control device when the output torque exceeds its set maximum output torque, causing the pedal control device to control the pedal motor to rotate in the opposite direction.

[0050] In this embodiment, the device motor is a steering motor, and the output shaft of the steering motor is connected to the main shaft of the outboard motor via a transmission mechanism. Both the pedal motor and the steering motor are brushless motors, which have the advantages of long life and low noise. Both the pedal angle sensor and the device angle sensor are absolute encoders integrated with the brushless motor. Both the pedal control device and the device control device use STM32 series microcontrollers with brushless motor drive capabilities, such as STM32F1xx, STM32F4xx, and STM32G4xx. The pedal control device and the device control device communicate via a CAN bus. Each device also includes a first CAN communication module and a second CAN communication module, used to control the information transmission and reception processes of the pedal control device and the device control device, respectively.

[0051] It is understood that when the foot pedal control system of this embodiment of the invention is applied to the steering control of the outboard motor, the pedal needs to be a rocker pedal, that is, the pivot of the pedal is located in the middle of the pedal, so as to realize the steering control of the outboard motor drive in both left and right directions.

[0052] It should be noted that in the description of this invention, any descriptions of orientation, such as up, down, front, back, left, right, etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and should not be construed as a limitation of this invention.

[0053] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the stated number, while "above," "below," "within," etc. are understood to include the stated number. If "first" or "second" is mentioned, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0054] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0055] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0056] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0057] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A foot pedal control method, characterized in that, Includes the following steps: Obtain the pedal's rotation speed and rotation angle; The pedal torque of the pedal motor is calculated based on the pedal speed, and the pedal motor is then subjected to sensor-based FOC control based on the pedal torque. The expected output of the device motor is calculated based on the mapping relationship between the rotation angle of the pedal and the output of the device motor. Calculate the output torque of the equipment motor based on the difference between the current output and the expected output of the equipment motor; Based on the output torque of the equipment motor, the FOC control of the equipment motor is performed. When the output torque of the equipment motor exceeds its set maximum output torque, the pedal motor is controlled to rotate in the opposite direction. In the step of calculating the pedal torque of the pedal motor based on the pedal speed and performing sensor-based FOC control of the pedal motor based on the pedal torque, the formula for calculating the pedal torque is as follows: Where E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor. In the step of calculating the output torque of the device motor based on the difference between the current output and the expected output, the expected output is the rotation angle of the device motor, and the formula for calculating the output torque of the device motor is as follows: Where E2 is the output torque of the equipment motor, P2 is the torque output multiple of the equipment motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the equipment motor, and A22 is the current angle of the equipment motor.

2. The foot pedal control method according to claim 1, characterized in that, In the step of controlling the pedal motor to rotate in the reverse direction when the output torque of the device motor exceeds the set maximum output torque, the pedal torque of the pedal motor is set to the output torque E2 of the device motor when the pedal motor is controlled to rotate in the reverse direction.

3. A storage medium storing program code, characterized in that, When the program code is called and executed by a computer, it implements the foot pedal control method according to claim 1 or 2.

4. A foot pedal control device, characterized in that, It includes a computer and a storage medium according to claim 3, wherein the storage medium is electrically connected to the computer.

5. A foot pedal control system, characterized in that, include: pedal; A pedal motor, the output shaft of which is connected to the pedal; The pedal angle sensor is connected to the output shaft of the pedal motor. A pedal control device, electrically connected to the pedal motor and the pedal angle sensor, includes a first acquisition module, a pedal torque calculation module, and a first FOC control module. The first acquisition module is used to acquire the rotation angle of the pedal motor. The pedal torque calculation module is used to calculate the speed of the pedal motor based on the rotation angle and to calculate the pedal torque based on the speed of the pedal motor. The first FOC control module is used to perform sensor-based FOC control on the pedal motor based on the pedal torque. The equipment motor has its output shaft connected to the load to be driven. An angle sensor for the device is connected to the output shaft of the device's motor. The device control unit, electrically connected to the device motor and the device angle sensor, and communicatively connected to the pedal control unit, includes a second acquisition module, an output torque calculation module, a second FOC control module, and an overload feedback module. The second acquisition module is used to acquire the rotation angle of the pedal motor and the rotation angle of the device motor. The output torque calculation module is used to calculate the desired output of the device motor based on the rotation angle of the pedal motor, and to calculate the output torque of the device motor based on the desired output and the rotation angle of the device motor. The second FOC control module is used to perform sensor-based FOC control on the device motor based on the output torque. The overload feedback module is used to feed back overload information to the pedal control unit when the output torque exceeds its set maximum output torque, causing the pedal control unit to control the pedal motor to rotate in the opposite direction.

6. The foot pedal control system according to claim 5, characterized in that, The pedal torque calculation module calculates the pedal torque using the following formula: Where E1 is the pedal torque, A11 is the current pedal angle, A12 is the pedal angle at the last adjustment time, T1 is the current time, T2 is the last adjustment time, and N1 is the torque output multiple of the pedal motor.

7. The foot pedal control system according to claim 5, characterized in that, The output torque calculation module calculates the output torque of the device motor using the following formula: Where E2 is the output torque of the equipment motor, P2 is the torque output multiple of the equipment motor, A21 is the rotation angle of the pedal, P1 is the multiple coefficient between the rotation angle of the pedal and the rotation angle of the equipment motor, and A22 is the current angle of the equipment motor.

8. The foot pedal control system according to claim 5, characterized in that, When the output torque exceeds its set maximum output torque, the overload feedback module feeds the output torque back to the pedal control device, causing the pedal control device to control the pedal motor to rotate in the opposite direction with the output torque.

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